Had some tests on a XPS 15 9550 as well. With identical kernel and
firmware, cannot reproduce this issue so far. All the seem related error
messages also appear in the healthy one, the firmware has stayed as it
is currently since 2015, and verified bionic/focal installed the same
blob. Also tried upgrading it from Bionic to Focal, yet still cannot
reproduce it even under a 100 run stress test.

Someone[1] reported that it could be a bug in NetworkManager that it
tries to reuse a misconfigured connection, and simply delete that and
reconnect will do:

  NetworkManager[767]: <info>  [1591110830.1613] device (wlp2s0): state
change: need-auth -> failed (reason 'no-secrets', sys-iface-state:
'managed')

So maybe you would like to try find the connection in WiFi settings,
click "Forget Connection" in its own settings page. Maybe even remove
all the remembered connections as well.

[1]: https://unix.stackexchange.com/questions/420640/unable-to-connect-
to-any-wifi-with-networkmanager-due-to-error-secrets-were-req

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https://bugs.launchpad.net/bugs/1881549

Title:
  BCM43602 [14e4:43ba] Subsystem [1028:0020]: Upgraded to 20.04 and wifi
  broke

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